def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["right_shoulder_x", "right_shoulder_y", "right_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["left_shoulder_x", "left_shoulder_y", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["right_ankle_y"]
self.motor_power += [200]
self.motor_names += ["left_ankle_y"]
self.motor_power += [200]
self.motors = [self.jdict[n] for n in self.motor_names]
if self.random_yaw:
yaw = self.np_random.uniform(low=-3.14, high=3.14)
position = [0, 0, 1.4]
orientation = [
0,
0,
yaw,
] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(orientation)
self.initial_z = 0.8
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
# Adjust power coefficients so that motors won't exert power that is too large or too small.
# Power that is too large will cause PyBullet to have the "fly-away" bug.
# Power that is too small won't be possible to achieve the locomotion task.
empirical_c1 = 2e4
empirical_c2 = 2e4 # the torso is especially prone to the "fly-away" bug, so this number should keep small.
# power coefficients is proportional to the volume of adjacent parts.
thigh_joint_power_coef = (self.param["volume_torso"] +
self.param["volume_thigh"]) * empirical_c1
leg_joint_power_coef = (self.param["volume_thigh"] +
self.param["volume_leg"]) * empirical_c1
foot_joint_power_coef = (self.param["volume_leg"] +
self.param["volume_foot"]) * empirical_c1
# avoid too large
torso_max_power_coef = self.param["volume_torso"] * empirical_c2
thigh_joint_power_coef = min(torso_max_power_coef,
thigh_joint_power_coef)
# set them
joint_names = ["thigh", "leg", "foot"]
joint_powers = [
thigh_joint_power_coef, leg_joint_power_coef, foot_joint_power_coef
]
for joint_name, joint_power, coef in zip(joint_names, joint_powers,
self.powercoeffs):
self.jdict[f"{joint_name}_joint"].power_coef = joint_power * coef
self.jdict[
f"{joint_name}_left_joint"].power_coef = joint_power * coef
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.jdict["leg_joint"].set_position(self.init_pos[0] * 180 / pi)
self.jdict["thigh_joint"].set_position(self.init_pos[2] * 180 / pi)
self.jdict["leg_left_joint"].set_position(-self.init_pos[1] * 180 / pi)
self.jdict["thigh_left_joint"].set_position(self.init_pos[3] * 180 /
pi)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
torso_length = 4
torso_width = 5
torso_max_power_coef = torso_length * torso_width * torso_width
joint_names = ["thigh", "leg", "foot"]
joint_powers = [torso_max_power_coef, 100, 30] # where is 80?
for joint_name, joint_power, coef in zip(joint_names, joint_powers,
self.powercoeffs):
self.jdict[f"{joint_name}_joint"].power_coef = joint_power * coef
self.jdict[
f"{joint_name}_left_joint"].power_coef = joint_power * coef
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
# power coefficient should be proportional to the min possible volume of that part. (Avoid pybullet fly-away bug.)
self.jdict["thigh_joint"].power_coef = 65
self.jdict["leg_joint"].power_coef = 31
self.jdict["foot_joint"].power_coef = 18
self.jdict["thigh_left_joint"].power_coef = 65
self.jdict["leg_left_joint"].power_coef = 31
self.jdict["foot_left_joint"].power_coef = 18
# I deleted ignore_joints in mujoco xml files, so i need to place the robot at an appropriate initial place manually.
robot_id = self.objects[0] # is the robot pybullet_id
bullet_client.resetBasePositionAndOrientation(
bodyUniqueId=robot_id,
posObj=[0, 0, self.param["torso_center_height"] + 0.1],
ornObj=[0, 0, 0, 1]) # Lift the robot higher above ground
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
body_pose = self.robot_body.pose()
x, y, z = body_pose.xyz()
self._initial_z = z
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
# Robot to initial position
self.robot_body.reset_position(self.init_robot_pos)